Difference between revisions of "CanServo/Protocol/LongMessage"
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| Line 18: | Line 18: | ||
** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ** < Data : max 7 byte, cut from packed Message >, <Check Byte> | ||
** Check Byte | ** Check Byte | ||
*** bit 7 = | *** bit 7 = first packet | ||
*** bit 6 = | *** bit 6 = last packet | ||
*** bit 5 = Toggle, first packet = 1, toggle bit on each packet | *** bit 5 = Toggle, first packet = 1, toggle bit on each packet | ||
*** bit 4:0 = Seq, 0 ~ 31, inc 1 on each message | *** bit 4:0 = Seq, 0 ~ 31, inc 1 on each message | ||
Revision as of 02:28, 21 January 2025
Long Message
- This content refers to the message format of UAVCAN.
- Thanks to UAVCAN
- Note:
- CRC16 : byte order : low byte first, little endian
- Reference:
CAN 2.0
- Packaging the message to be sent.
- If the message to be sent is 8 bytes or more, CRC16 is added.
- Packet's Data Format
- < Data : max 7 byte, cut from packed Message >, <Check Byte>
- Check Byte
- bit 7 = first packet
- bit 6 = last packet
- bit 5 = Toggle, first packet = 1, toggle bit on each packet
- bit 4:0 = Seq, 0 ~ 31, inc 1 on each message
- Messages less than 8 bytes long are transmitted as one packet.
- CRC starting value is 0xFFFF (-1)
FD-CAN
- Under construction !